Automatic wind-drift compensation system for agricultural sprayers

ABSTRACT

An automatic wind-drift compensation system is provided for an agricultural sprayer. The system includes a control unit adapted to receive input data including wind speed and direction, vehicle speed and direction, and desired spray overlap. The control unit is programmed with a set of instructions for processing the data and generating output data. The output data facilitates steering of the sprayer through the field to achieve the desired spray overlap.

BACKGROUND OF THE INVENTION

[0001] Agricultural spraying of soil nutrients, insecticides andpesticides is common, and typically involves the use of a boom-typesprayer pulled behind a tractor. Recently, various navigation aidsystems have been developed with increased accuracy for steering thetractor through the field on a desired path. Examples of such steeringsystems include the John Deere Parallel Tracking and AutoTrak system,IntigriNautics AutoSteer products, and systems by Trimble, and Beeline.

[0002] However, none of these navigation aid systems which are currentlyavailable have the means or algorithmic concept to account for thewind-drift of the spray from the spray nozzles. Such wind-drift leads toan incorrect overlap of the sprayed solution from one pass to the next.The cross-path wind-drift can be significant and result inoverapplication or underapplication of the spray solution. Thewind-drift can also present environmental issues, for example, withexcessive spray overlap or when the spray drifts to undesired areas.

[0003] Accordingly, a primary objective of the present invention is theprovision of a system which automatically compensates for wind-drift foragricultural sprayers.

[0004] Another objective of the present invention is a system tofacilitate the steering of an agricultural sprayer through a field toachieve a desired spray overlap.

[0005] Another objective of the present invention is the provision of amethod of automatically compensating for wind-drift during spraying byan agricultural sprayer.

[0006] Still another objective of the present invention is the provisionof an agricultural sprayer having a weather station thereon for sensingwind speed and direction, and a control unit adapted to receive inputdata regarding wind speed and direction, vehicle speed and direction,and the desired spray overlap, and then generate output data tofacilitate steering of the sprayer through the field to achieve thedesired spray overlap.

[0007] Another objective of the present invention is the provision of anagricultural sprayer with a control unit programmed with a set ofinstructions for processing input data and generating output data toaccommodate wind-drift.

[0008] Yet another objective of the present invention is the provisionof an agricultural sprayer having a navigation aid system with a controlunit operatively connected thereto to facilitate steering of theagricultural sprayer in consideration of wind-drift.

[0009] These and other objectives will become apparent from thefollowing description of the invention.

BRIEF SUMMARY OF THE INVENTION

[0010] The Automatic Wind-Drift Compensation System of the presentinvention is intended for use on an agricultural sprayer having anavigation aid system installed thereon. The system includes a controlunit adapted to receive input data, including wind speed, winddirection, vehicle speed, vehicle direction, and desired spray overlap.A set of instructions is programmed into the control unit for processingthe input data and for generating output data in response to the inputdata. The output data is used to direct the sprayer, or facilitatesteering of the sprayer, through the field so as to achieve the desiredspray overlap. The system may also include a weather station on thesprayer for sensing the wind speed and wind direction. The sprayerheight may also be one of the input data processed by the control unit.

BRIEF DESCRIPTION OF THE DRAWINGS

[0011]FIG. 1 is a top plan view of a tractor with an agriculturalsprayer positioned in a field being sprayed with a solution from thesprayer.

[0012]FIG. 2A is a simplified rear elevation view of the sprayer withthe mobile weather station according to the present invention and withno wind.

[0013]FIG. 2B is a view similar to FIG. 2A showing the spray in a windycondition.

[0014]FIG. 3A is an enlarged view taken along lines 3A-3A of FIG. 2.

[0015]FIG. 3B is a view similar to FIG. 3A showing a spray pattern inmoderate wind.

[0016]FIG. 3C is a view similar to FIG. 3A showing a spray pattern in astrong wind.

[0017]FIG. 4 is a schematic block diagram showing the input data andoutput data for the control unit of the system of the present invention.

[0018]FIG. 5 is a flowchart for the process of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

[0019] A conventional tractor 10 is shown in FIG. 2 pulling anagricultural sprayer 12 having a plurality of spray nozzles 14. Thesprayer 12 is adapted to spray solution, such as soil nutrients,insecticides or pesticides from a reservoir (not shown) through thenozzles 14 onto the field 16. Depending upon the nozzle 14, the spraypattern may be conical or elliptical. Ideally, the spray pattern ofadjacent nozzles 14 overlap one another, if at all, to an extentnecessary to achieve a uniform application of the solution to the field16. The sprayer 12 is also conventional and does not constitute a partof the present invention.

[0020] The present invention is directed towards a system whichautomatically compensates for wind-drift of the sprayed solution as thetractor 10 and sprayer 12 move through the field 16. More particularly,the system includes a control unit 18 which is preferably mounted in thecab of the tractor 10 for easy access by the operator of the tractor. Amobile weather station 20 is provided on the sprayer 12, preferably at aheight above the cab of the tractor 10, so as to avoid or minimizeground turbulence, which can cause inaccurate readings. The weatherstation 20 senses the wind speed and direction and generatescorresponding signals to the control unit 18. The control unit 18 may behard wired to the weather station 20 via electrical wires 22.Alternatively, the operative connection between the control unit 18 andthe weather station 20 may be wireless, in accordance with knowntechnology.

[0021] The operator also inputs data into the control unit 18 such asthe tractor speed, the tractor direction, the desired spray overlap,path plan, the wind speed and direction, and the sprayer height. Thecontrol unit 18 is programmed with a set of instructions, or analgorithm, for processing the input data 26 and generating output data28, as represented in FIG. 4. The output data 28 allows the tractor 10,which is equipped with a standard navigation aid system 24, to besteered through the field 16 so as to achieve the desired spray overlap,while accommodating for wind-drift.

[0022] The method of the present invention allows for automaticcompensation for wind-drift during the spraying operation by the sprayer12. According to the method, the input data 26 is generated regardingwind speed, wind direction, sprayer speed, sprayer direction, sprayerheight, and desired spray overlap. This input data is sent to thecontrol unit 18, which then generates the output data 28 used forsteering or directing the tractor 10 and the attached sprayer 12 throughthe field to achieve the desired spray overlap.

[0023] The process of the present invention is schematically shown inthe flowchart of FIG. 5. Following the start up and initialization step,the various data regarding position, heading and speed, path plan, winddirection, wind speed, and sprayer height are input. Next, thecompensation for the spray pattern is calculated so as to meet the pathplan under the current weather conditions. Then, a check is made toassure that spraying under the current weather conditions is permissiblein light of local regulations. If not, a warning is displayed to theoperator. If local regulations do not preclude spraying, then the spraypattern composition is applied to the steering algorithm of the controlunit 18. The spray operation then begins, and continues with repeated orcontinuous re-evaluation of each of the above steps, other than start upand initialization.

[0024] Whereas the invention has been shown and described in connectionwith the preferred embodiment thereof, it will be understood that anymodifications, substitutions, and additions may be made which are withinthe intended broad scope of the following claims. From the foregoing, itcan be seen that the present invention accomplishes at least all of thestated objectives.

What is claimed is:
 1. An automatic wind-drift compensation system foran agricultural sprayer, comprising: a control unit adapted to receiveinput data including wind speed, wind direction, vehicle speed, vehicledirection and desired spray overlap; and the control unit adapted togenerate output data to facilitate steering of the sprayer through thefield and to achieve the desired spray overlap.
 2. The system of claim 1further comprising a mobile weather station on the sprayer for sensingthe wind speed and wind direction.
 3. The system of claim 2 wherein theweather station is spaced above the ground to minimize groundturbulence.
 4. The system of claim 1 further comprising a set ofinstructions programmed into the control unit for processing the inputdata and generating the output data.
 5. The system of claim 1 whereinthe input data further includes height of the sprayer.
 6. The system ofclaim 1 further comprising a navigation aid system operatively connectedto the control unit.
 7. A method of automatically compensating forwind-drift during spraying by an agricultural sprayer, comprising:generating input data regarding wind speed, wind direction, sprayerspeed, sprayer directions, and desired spray overlap; sending the inputdata to a control until; generating output data from the control unit;and steering the sprayer through the field in response to the outputdata to achieve the desired spray overlap.
 8. The method of claim 7wherein the wind speed and wind direction input data is generated by amobile weather station on the sprayer.
 9. The method of claim 7 furthercomprising programming the control unit with a set of instructions forprocessing the input data and for generating the output data.
 10. Themethod of claim 7 further comprising generating input data regardingsprayer height and sending the sprayer height data to the control unitfor processing.
 11. The method of claim 7 further comprising operativelyconnecting the control unit to a navigation aid system for steering thesprayer.
 12. A system to facilitate steering of an agricultural sprayerthrough a field to achieve a desired overlap of spray, comprising: inputdata including wind speed and direction, and sprayer speed anddirection; a processor for processing the input data and generatingoutput data; and the output data being used to direct the sprayer fordesired spray overlap.
 13. The system of claim 12 wherein the systemincludes a weather station on the sprayer to sense wind speed anddirection.
 14. The system of claim 13 wherein the weather stationgenerates the wind speed and direction input data.
 15. The system ofclaim 12 further comprising a set of instructions programmed into thecontrol unit for generating the output data based on the input data. 16.The system of claim 12 wherein the input data further includes sprayerheight.
 17. The system of claim 12 further comprising a navigationsystem operatively connected to the control unit.